A handling and plugging manipulator for automatic aging test of discrete devices

Abstract

This invention discloses a handling and insertion robot for automatic aging testing of discrete devices, belonging to the field of handling robot technology. It includes a lower X-axis linear conveyor track and an upper X-axis linear conveyor track. A dual-path independent Y-axis drive module, capable of translational movement along the X-axis, is arranged between the lower and upper X-axis tracks. A clamping component and a material control component are respectively driven and connected to the dual-path independent Y-axis drive module, enabling independent driving of the clamping and material control components. The dual-path independent Y-axis drive module is equipped with an X-axis drive component, which is driven and connected to the lower X-axis linear conveyor track. The X-axis drive component drives the dual-path independent Y-axis drive module to perform reciprocating translational motion along the X-axis. The clamping component is used to clamp and position a loading frame containing test fixtures, and the material control component can push or pull the test fixture containing discrete devices within the loading frame into or out of the test storage position.

Description

Technical Field

[0001] This invention relates to the field of handling robot technology, and in particular to a handling and plugging robot for automatic aging testing of discrete components. Background Technology

[0002] With the rapid development of the modern electronics industry, discrete devices, as core components of electronic devices, directly determine the quality and lifespan of end products through their operational reliability. Among these, operational stability under high-temperature environments is a key indicator for evaluating the performance of discrete devices. Therefore, high-temperature reliability testing has become an indispensable and crucial step in the discrete device manufacturing process, and a core means of ensuring product quality and mitigating usage risks.

[0003] Currently, high-temperature reliability testing of discrete devices in the industry mainly relies on automated testing equipment, and automated testing has become the mainstream development direction in this field. In this type of automated testing equipment, a handling robot is responsible for moving discrete devices from the loading area to the test bay of the testing machine, enabling the discrete devices to enter the testing machine for testing. In the testing process, multiple discrete devices are usually placed in a test fixture in the loading area, and then the handling robot moves the test fixture to the front of the testing machine, allowing the terminal blocks of the test fixture to align with the terminal blocks inside the test bay, so that the testing machine can perform aging tests on the discrete devices. However, existing handling robots still have the following drawbacks in practical applications: First, the handling of test fixtures is limited to moving only one piece at a time, and requires a single handling robot to work back and forth. This design not only affects the smoothness and continuity of the overall operation of the testing equipment, but also makes it difficult to fully release the testing efficiency. Second, after the existing handling robot moves the test fixture to the test cabinet, an additional pushing mechanism needs to be set in front of the test cabinet to push the test fixture into the test storage position. This design not only increases the number of parts and the floor space of the testing equipment, but also reduces the structural compactness of the equipment. In summary, the handling robots used in existing automated testing equipment for discrete devices are lacking in handling efficiency, structural versatility, and compactness, making it difficult to meet the demands of automated testing equipment for improved testing efficiency.

[0004] Therefore, it is necessary to propose a new technical solution to address the above problems. Summary of the Invention

[0005] To overcome the shortcomings mentioned above, the present invention aims to provide a technical solution that can solve the above-mentioned technical problems.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a handling and insertion / removal robot for automatic aging testing of discrete devices, comprising a lower X-axis linear conveying track and an upper X-axis linear conveying track, wherein a dual-path independent Y-axis drive module capable of translation along the X-axis direction is provided between the lower X-axis linear conveying track and the upper X-axis linear conveying track, wherein a clamping component and a material control component are respectively driven and connected to the dual-path independent Y-axis drive module, and the clamping component and the material control component can be driven independently through the dual-path independent Y-axis drive module to achieve linear movement of the clamping component and the material control component along the Y-axis direction; The dual-path independent Y-axis drive module is equipped with an X-axis drive component, which is connected to the X-axis linear conveyor lower track drive. The X-axis drive component can drive the dual-path independent Y-axis drive module to perform reciprocating translational motion along the X-axis direction. The clamping assembly is used to clamp and position the loading frame containing the test fixture. The material control assembly is located at the upper end of the clamping assembly and can push or pull the test fixture containing discrete components in the loading frame into or out of the test storage position.

[0007] As a further aspect of the present invention: the dual-path independent Y-axis drive module includes a base, on which a bidirectional Y-axis track plate is fixedly mounted. On opposite sides of the bidirectional Y-axis track plate, a first Y-axis drive component and a second Y-axis drive component are integrated, and the space of the first Y-axis drive component and the second Y-axis drive component is shared through the same bidirectional Y-axis track plate. The first Y-axis drive assembly is driven to the clamping assembly, and the second Y-axis drive assembly is driven to the material control assembly. The X-axis drive assembly is mounted on the base and works in conjunction with the X-axis linear conveyor lower track drive.

[0008] As a further aspect of the present invention: the clamping assembly includes two first side plates located on one side of the bidirectional Y-axis track plate and arranged opposite to each other. Each of the two first side plates is provided with a clamping plate and a first drive motor that can slide relative to each other. The first drive motor is provided with a first screw, and the first screw is threadedly driven connected to the clamping plate.

[0009] As a further aspect of the present invention: the material control assembly includes two second side plates arranged on the same side as the first side plate and opposite to each other. A support platform is provided on the upper end of the second side plate near the bidirectional Y-axis track plate. A second drive motor is provided on the support platform. The second drive motor is driven and connected to a second screw. A movable plate is threadedly connected to the second screw. The movable plate is slidably connected to the second side plate. A push rod is provided at the lower end of the movable plate.

[0010] As a further aspect of the present invention: the push rod is located at the front end of the moving plate in the forward direction and is offset from the position of the moving plate. When the dual-path independent Y-axis drive module controls the material control assembly to descend, the push rod can be inserted and engaged with the socket on the test fixture.

[0011] As a further aspect of the present invention: the width between the two second side plates is less than the width between the two first side plates.

[0012] As a further aspect of the present invention: the first Y-axis drive assembly includes a first Y-axis lead screw disposed on the side of the bidirectional Y-axis track plate facing the clamping assembly and a third drive motor disposed on the base, the third drive motor being drivenly connected to the first Y-axis lead screw, a first Y-axis movable block being screwed onto the first Y-axis lead screw, and the first Y-axis movable block being connected to the clamping assembly. The second Y-axis drive assembly includes a second Y-axis lead screw disposed on the side of the bidirectional Y-axis track plate away from the material control assembly and a fourth drive motor disposed on the upper end of the bidirectional Y-axis track plate. The fourth drive motor is drivenly connected to the second Y-axis lead screw. A second Y-axis movable block is screwed onto the second Y-axis lead screw. The two material control assemblies are connected to the second Y-axis movable block.

[0013] As a further embodiment of the present invention: Y-axis slide rails are provided on both sides of the bidirectional Y-axis track plate, and two Y-axis sliders are slidably fitted on the Y-axis slide rails. The clamping assembly and the material control assembly are respectively connected to the two Y-axis sliders.

[0014] As a further aspect of the present invention: the X-axis drive assembly includes a fifth drive motor mounted on the base, the output shaft of the fifth drive motor passes through the base and is connected to a drive gear, and a toothed rack is provided on the X-axis linear conveying track along the X-axis direction, and the drive gear meshes with the teeth on the toothed rack.

[0015] As a further embodiment of the present invention: a top plate is provided at the upper end of the bidirectional Y-axis track plate, and pulleys are provided on both sides of the upper end of the top plate. The X-axis linear conveying upper track is located between the two pulleys so that the top plate slides and engages with the X-axis linear conveying upper track.

[0016] Compared with the prior art, the beneficial effects of this technical solution are as follows: By setting up a dual-path independent Y-axis drive module that can independently control the clamping component and the material control component, the present invention can clamp the loading of multiple test fixtures. At the same time, by configuring an X-axis drive component that can drive the dual-path independent Y-axis drive module to translate along the X-axis, the position of the loading frame on the X-axis and Y-axis can be transferred respectively. By independently controlling the clamping component and the material control component, the test fixtures containing discrete components are pushed out in coordination, allowing multiple test fixtures to be pushed into the test slots of the test cabinet in sequence, eliminating the need for loading in the test cabinet. The system can perform multiple non-transferable operations between zones. After testing, the completed tests and discrete components can be pulled out of the test cabinet and pushed into the cooling buffer chamber of the automatic aging test equipment for cooling and temperature reduction, improving the smoothness and continuity of the test equipment's operation. At the same time, the integrated design of the dual independent Y-axis drive module, clamping components, and material control components can cooperate with the loading area of ​​the automatic aging test equipment. Each time, it can transport a loading frame full of test fixtures, which improves the structural compactness and functional integration of the handling device, thereby improving the handling efficiency of the handling robot and matching the demand for improved testing efficiency of automated test equipment.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a partial structural schematic diagram of the present invention; Figure 3 This is a schematic diagram of the planar structure of the dual-path independent Y-axis drive module of the present invention; Figure 4 This is a schematic diagram of the X-axis linear conveying track of the present invention; Figure 5 This is a schematic diagram of the structure of the clamping component of the present invention; Figure 6 This is a schematic diagram of the material control component of the present invention; Figure 7 This is a diagram showing the working state of the present invention; Figure 8 This is a schematic diagram of the transport test fixture structure of the present invention; Figure 9 This is a schematic diagram illustrating the application of the present invention in automated testing equipment; The corresponding labels in the attached diagram are explained as follows: 1. X-axis linear conveyor lower track; 11. Toothed rack; 2. X-axis linear conveyor upper track; 3. Dual-path independent Y-axis drive module; 31. Base; 32. Bidirectional Y-axis track plate; 33. First Y-axis drive assembly; 331. First Y-axis lead screw; 332. Third drive motor; 333. First Y-axis movable block; 34. Second Y-axis drive assembly; 341. Second Y-axis lead screw; 342. Fourth drive motor; 343. Second Y-axis 35. Movable block; 36. Y-axis slide rail; 4. Y-axis slider; 5. Clamping assembly; 41. First side plate; 42. Clamping plate; 43. First drive motor; 44. First screw; 5. Material control assembly; 51. Second side plate; 52. Support platform; 53. Second drive motor; 54. Second screw; 55. Movable plate; 56. Push rod; 6. X-axis drive assembly; 61. Fifth drive motor; 62. Drive gear; 7. Top plate; 71. Pulley. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figure 1-9 A handling and insertion robot for automatic aging testing of discrete devices includes an X-axis linear lower conveyor rail 1 and an X-axis linear upper conveyor rail 2. A dual-path independent Y-axis drive module 3 that can translate along the X-axis direction is arranged between the X-axis lower conveyor rail 1 and the X-axis upper conveyor rail 2. A clamping component 4 and a material control component 5 are respectively driven and connected on the dual-path independent Y-axis drive module 3. The clamping component 4 and the material control component 5 can be driven independently by the dual-path independent Y-axis drive module 3 to achieve linear movement of the two along the Y-axis direction. The dual-path independent Y-axis drive module 3 is equipped with an X-axis drive component 6. The X-axis drive component 6 is driven to connect with the X-axis linear conveying lower rail 1. The X-axis drive component 6 can drive the dual-path independent Y-axis drive module 3 to perform reciprocating translational motion along the X-axis direction. The clamping component 4 is used to clamp and position the loading frame containing the test fixture. The material control component 5 is located at the upper end of the clamping component 4 and can push or pull the test fixture containing discrete components in the loading frame into or out of the test storage position.

[0022] Specifically, the lower X-axis linear conveyor track 1 and the upper X-axis linear conveyor track 2 are arranged parallel and symmetrically. The track lengths are designed to be adapted to the distance between the loading area of ​​the testing equipment and the testing cabinet, such as... Figure 1 The X-axis linear conveying lower rail 1 and X-axis linear conveying upper rail 2 shown are fixed to the equipment frame, forming a stable double-rail support structure, which provides guidance and load-bearing foundation for the X-axis translation of the dual independent Y-axis drive module 3; The dual-path independent Y-axis drive module 3 is slidably engaged with the upper X-axis linear conveying upper rail 2 and the lower X-axis linear conveying lower rail 1 at its upper and lower ends, respectively. It integrates two sets of independent Y-axis drive units, which drive the clamping component 4 and the material control component 5 respectively, so as to realize the synchronous action or independent action of the clamping component 4 and the material control component 5 without interference. During operation, the X-axis drive assembly 6 first drives the dual-path independent Y-axis drive module 3 to move to the loading area of ​​the testing equipment. Then, the clamping assembly 4 clamps the loading frame containing the test fixture, and the drive unit of the dual-path independent Y-axis drive module 3 drives the clamping assembly 4 to move the loading frame upwards, detaching it from the loading area of ​​the testing equipment. Subsequently, the X-axis drive assembly 6 drives the dual-path independent Y-axis drive module 3 to move in front of the testing cabinet, positioning the loading frame on the clamping assembly 4 in front of the test bay of the testing cabinet. At this point, the dual-path independent Y-axis drive module 3 can move the loading frame up and down on the independent drive clamping assembly 4, allowing the test fixture inside the loading frame to align with the test bay of the testing cabinet. After the test fixtures are aligned, the material control component 5 is driven to move up and down, moving to the height where it docks with the test fixture to be ejected. Then, the material control component 5 is activated and pushes the test fixture into the corresponding test fixture, so that the terminal block of the test fixture docks with the terminal block inside the corresponding test fixture. Then, the loading frame is controlled to move up and down through the dual independent Y-axis drive module 3, so that the position of the next test fixture to be ejected is aligned with the corresponding test fixture. The material control component 5 is then controlled to move up and down adaptively to eject the test fixture. This process is repeated until all the test fixtures inside the loading frame are pushed into the test fixtures of the test cabinet. After all the test fixtures inside the loading frame are pushed out, the X-axis drive assembly 6 drives the dual independent Y-axis drive module 3 to move back to the loading area of ​​the test equipment. The clamping assembly 4 releases the clamp on the loading frame and clamps and fixes another loading frame loaded with test fixtures. Then, through the coordinated cooperation of the X-axis drive assembly 6, the dual independent Y-axis drive module 3 and the material control assembly 5, all the test fixtures can be pushed into the test compartment of the test cabinet. In some embodiments, such as Figure 9The diagram shows the structure of this handling and insertion robot applied to an automatic aging test equipment (part of the outer casing has been hidden for ease of display). The automatic aging test equipment includes a temperature isolation chamber that connects to the loading area, followed by a cooling buffer chamber and multiple aging test cabinets arranged in sequence. The temperature isolation chamber contains two loading frames for loading test fixtures, and a lifting mechanism acting on the loading frames is also located within the temperature isolation chamber. Test fixtures can be placed in the loading area, and the device in the loading area places discrete components into the test fixtures. The test fixtures are then... The loading frame, equipped with multiple drawer-type rails, is pushed into the loading box. A specially designed lifting mechanism gradually elevates the loading frame to accommodate the sequential insertion of multiple test fixtures. The workflow of this handling and insertion robot is as follows: the dual-path independent Y-axis drive module 3 controls the material control component 5 and the clamping component 4 to rise to a high position; the X-axis drive component 6 drives the dual-path independent Y-axis drive module 3 to move to the temperature isolation chamber; the clamping component 4 unfolds and descends, passing over the loading frame and moving to its bottom; subsequently, the clamping component 4 clamps the loading frame; the X-axis drive component 6 drives the dual-path independent Y-axis drive module 3 and... Clamping assembly 4, material control assembly 5, and loading frame are transferred to the aging test cabinet. The clamping assembly 4 and material control assembly 5 are independently controlled via a dual-path independent Y-axis drive module 3, pushing the test fixtures inside the loading frame into the test bay of the aging test cabinet. After all the test fixtures inside the loading frame are pushed out, the empty loading frame can be transferred to the temperature isolation chamber. During the transfer, the loading frame can be lifted to avoid loading frames containing test fixtures in the temperature isolation chamber. Then, the empty loading frame can be placed in the temperature isolation chamber, and the loading frame can be lifted, translated, lowered, and clamped to accommodate the test fixtures. Once the loading frame of the test fixture is clamped, the test fixture can be moved and pushed into the test compartment of the aging test cabinet. After all the test fixtures to be pushed into the loading frame are pushed into the test compartment of the aging test cabinet, the test fixtures of the discrete components that have completed testing can be pulled out through the empty loading frame, reloaded into the loading frame, and then the loading frame is moved to the front of the cooling buffer chamber. The test fixtures that have completed testing are pushed into the cooling buffer chamber for cooling and cooling. The process also includes the unloading process of moving the test fixtures out of the cooling buffer chamber. In summary, this invention, by setting up a dual-path independent Y-axis drive module 3 that can independently control the clamping component 4 and the material control component 5, can clamp the loading of multiple test fixtures. Simultaneously, by configuring an X-axis drive component 6 that can drive the dual-path independent Y-axis drive module 3 to translate along the X-axis, the position of the loading frame on the X and Y axes can be transferred separately. Furthermore, by independently controlling the clamping component 4 and the material control component 5, each test fixture containing discrete components can be pushed out, allowing multiple test fixtures to be sequentially pushed into the test compartment of the test cabinet, eliminating the need for multiple transfers between the test cabinet and the loading area. For tasks where material handling is not possible, completed tests and discrete components can be pulled out of the test bay and pushed into the cooling buffer chamber of the automatic aging test equipment for cooling, improving the smoothness and continuity of the test equipment's operation. At the same time, the integrated design of the dual independent Y-axis drive module 3, clamping component 4, and material control component 5 can cooperate with the loading area of ​​the automatic aging test equipment, and can transport a loading frame full of test fixtures each time, improving the structural compactness and functional integration of the handling device, thereby improving the handling efficiency of the handling robot and matching the increased testing efficiency requirements of automated test equipment.

[0023] Based on the above embodiments, a dual-path independent Y-axis drive module 3 is further proposed, including a base 31, on which a bidirectional Y-axis track plate 32 is fixed. On opposite sides of the bidirectional Y-axis track plate 32, a first Y-axis drive assembly 33 and a second Y-axis drive assembly 34 are integrated, and the first Y-axis drive assembly 33 and the second Y-axis drive assembly 34 share space through the same bidirectional Y-axis track plate 32. The first Y-axis drive assembly 33 is driven to be connected to the clamping assembly 4, and the second Y-axis drive assembly 34 is driven to be connected to the material control assembly 5. The X-axis drive assembly 6 is installed on the base 31 and drives and cooperates with the X-axis linear conveying lower track 1.

[0024] Specifically, when the robotic arm performs handling and pushing actions, the base 31 provides a stable mounting foundation for the dual-path independent Y-axis drive module 3. The bidirectional Y-axis track plate 32 serves as the core load-bearing component. The first Y-axis drive assembly 33 and the second Y-axis drive assembly 34 on both sides of the track plate 32 can be started independently, driving the clamping assembly 4 and the material control assembly 5 to move along the Y-axis, respectively. At the same time, the X-axis drive assembly 6 drives the entire module to translate along the X-axis by cooperating with the X-axis linear conveying lower track 1. By utilizing the mounting surfaces on both sides of the bidirectional Y-axis track plate 32, space reuse is achieved, allowing the first Y-axis drive assembly 33 and the second Y-axis drive assembly 34 to share the same mounting reference. There is no need to set up separate track mounting structures for each component, which reduces the space occupied by the dual-path Y-axis drive structure, reduces the number of components in the module, and improves the overall structural compactness of the equipment. At the same time, the independent operation of the first Y-axis drive assembly 33 and the second Y-axis drive assembly 34 does not interfere with each other, ensuring the coordinated and efficient operation of the clamping and pushing actions.

[0025] Preferably, the clamping assembly 4 includes two first side plates 41 located on one side of the bidirectional Y-axis track plate 32 and arranged opposite to each other. Each of the two first side plates 41 is provided with a clamping plate 42 and a first drive motor 43 that can slide relative to each other. The first drive motor 43 is provided with a first screw 44, and the first screw 44 is threadedly driven connected to the clamping plate 42.

[0026] Specifically, in the operation of this handling robot, when it is necessary to clamp the loading frame, the clamping component 4 is first moved upward by the first Y-axis drive component 33 to a height exceeding that of the loading frame to be clamped. Then, the first drive motor 43 starts and drives the first screw 44 to rotate. Since the first screw 44 is threadedly connected to the clamping plate 42 and the clamping plate 42 can slide along the first side plate 41, the rotational motion of the screw is converted into the linear motion of the clamping plate 42. The two clamping plates 42, which are set opposite to each other, move closer or further away from each other. When clamping begins, the two clamping plates 42 move away from each other first. Then, the X-axis drive component 6 drives the dual independent Y-axis drive module 3 to move the two clamping plates 42 above the loading frame to be clamped. Subsequently, the dual independent Y-axis drive module 3 drives the clamping component 4, that is, the two clamping plates 42 move down to the bottom of the loading frame. Then, the first drive motor 43 drives the two clamping plates 42 to move closer to each other, thereby achieving the clamping of the loading frame. This clamping component 4 can be adapted to loading frames of different widths. Among them, the upper ends of the two clamping plates 42 are L-shaped. The bottom plane of the L-shaped structure can support the loading frame, while the side plane clamps the loading frame, thereby enabling the loading frame to move up, down, left, and right. The specific structure of the threaded connection between the first screw 44 and the clamping plate 42 is as follows: a screw hole is opened on the clamping plate 42, and the first screw 44 passes through and is threaded into the screw hole of the clamping plate 42 to achieve the threaded connection.

[0027] Preferably, the material control assembly 5 includes two second side plates 51 arranged on the same side as the first side plate 41 and opposite to each other. A support platform 52 is provided on the upper end of the second side plate 51 near the bidirectional Y-axis track plate 32. A second drive motor 53 is provided on the support platform 52. The second drive motor 53 is driven and connected to a second screw 54. A movable plate 55 is threadedly connected to the second screw 54. The movable plate 55 is slidably connected to the second side plate 51. A push rod 56 is provided at the lower end of the movable plate 55.

[0028] Specifically, when pushing the test fixture, the material control component 5 is first driven to move down by the second Y-axis drive component 34, so that the push rod 56 docks with the test fixture (such as plugging or abutting). Then, the second drive motor 53 starts and drives the second screw 54 to rotate. The movable plate 55, which is threadedly connected to the second screw 54, moves linearly along the pushing direction under the guidance of the second side plate 51. The push rod 56 at the lower end of the movable plate 55 moves synchronously with the movable plate, pushing the test fixture in the loading frame into the test compartment of the test cabinet. The pushing force is uniform, which can prevent the test fixture from tilting or jamming during the pushing process, and ensure that the plug-in terminal block of the test fixture docks with the plug-in terminal block inside the test compartment.

[0029] Preferably, the push rod 56 is located at the front end of the moving plate 55 in the forward direction and is offset from the position of the moving plate 55. When the dual independent Y-axis drive module 3 controls the material control component 5 to descend, the push rod 56 can be inserted and engaged with the socket on the test fixture.

[0030] Specifically, when the dual-path independent Y-axis drive module 3 controls the material control component 5 to descend along the Y-axis to a preset height, the push rod 56 aligns with the insertion hole on the test fixture and is inserted. The insertion and engagement form a mechanical positioning, establishing a reliable connection between the push rod 56 and the test fixture. Subsequently, the material control component 5 is activated, and the push rod 56 can drive the test fixture to move. This avoids relative sliding during the pushing process, improves the stability of the pushing action, prevents the test fixture from shifting or tilting during the pushing process, ensures that the insertion terminal block of the test fixture is accurately connected to the test fixture terminal block, and reduces the risk of terminal damage. Moving the position of push rod 56 forward relative to movable plate 55 avoids the material being pushed in the required position and prevents collision between movable plate 55 and test cabinet before the test fixture is fully pushed into the test compartment, ensuring that the test fixture is fully pushed in. Specifically, as follows: Figure 8 As shown, this is the structure of the test fixture handled by the mechanical handling arm. The outer end of the plate is provided with a lug plate. The insertion hole of the push rod 56 is opened on the lug plate. When pushing the material, the lug plate does not need to enter the test compartment. After the discrete components inside the test fixture are tested, the material control component 5 can also control the push rod 56 to be inserted into the insertion hole on the lug plate, and the test fixture is pulled out from the test compartment and loaded into the loading frame.

[0031] Preferably, the width between the two second side plates 51 is less than the width between the two first side plates 41.

[0032] Specifically, when the clamping component 4 clamps the loading frame, the two second side plates 51 of the material control component 5, being narrower, can naturally avoid the two sides of the loading frame. When moving down, they can enter the interior of the loading frame without interfering with the first side plate 41 of the clamping component 4 or the loading frame, ensuring that the clamping and pushing actions can be performed synchronously or continuously.

[0033] Preferably, the first Y-axis drive assembly 33 includes a first Y-axis lead screw 331 disposed on the bidirectional Y-axis track plate 32 facing the clamping assembly 4 and a third drive motor 332 disposed on the base 31. The third drive motor 332 is drivenly connected to the first Y-axis lead screw 331. A first Y-axis movable block 333 is screwed onto the first Y-axis lead screw 331. The first Y-axis movable block 333 is connected to two first side plates 41. The second Y-axis drive assembly 34 includes a second Y-axis lead screw 341 disposed on the side of the bidirectional Y-axis track plate 32 away from the material control assembly 5, and a fourth drive motor 342 disposed on the upper end of the bidirectional Y-axis track plate 32. The fourth drive motor 342 is drivenly connected to the second Y-axis lead screw 341. A second Y-axis movable block 343 is screwed onto the second Y-axis lead screw 341. The two second side plates 51 are connected to the second Y-axis movable block 343 after passing over the bidirectional Y-axis track plate 32.

[0034] Specifically, when the clamping assembly 4 needs to move along the Y-axis, the third drive motor 332 starts and drives the first Y-axis lead screw 331 to rotate. The first Y-axis movable block 333 moves linearly along the lead screw, thereby driving the first side plate 41 and the clamping assembly 4 connected thereto to move. When driving the material control assembly 5, the fourth drive motor 342 drives the second Y-axis lead screw 341 to rotate. The second Y-axis movable block 343 drives the second side plate 51 and the material control assembly 5 to move across the bidirectional Y-axis track plate 32. The Y-axis movement of the clamping assembly 4 and the material control assembly 5 is controlled by the independent third drive motor 332 and the fourth drive motor 342 respectively. The two mounting surfaces of the bidirectional Y-axis track plate 32 realize the spatial separation and independent transmission of the two lead screws, thereby improving the accuracy of clamping positioning and material pushing docking. Moreover, the first Y-axis drive assembly 33 and the second Y-axis drive assembly 34 make the actions of the two components not interfere with each other, and can realize synchronous or asynchronous operation, further improving the operating efficiency and flexibility of the equipment. Among them, the preferred option is the reference. Figure 2 and Figure 3 The specific structure of the drive connection between the third drive motor 332 and the first Y-axis lead screw 331 is as follows: the third drive motor 332 drives a driving gear, and the bottom of the first Y-axis lead screw 331 passes through the base 31 and is connected to a driven gear. A synchronous belt is sleeved between the driving gear and the driven gear. Thus, when the third drive motor 332 starts, the driving gear drives the driven gear through the synchronous belt, and the driven gear drives the first Y-axis lead screw 331, thereby driving the movement of the first Y-axis movable block 343. This design allows the third drive motor 332 to be installed on the upper part of the base 31, avoiding increasing the overall height of the device. The specific structure of the drive connection between the fourth drive motor 342 and the second Y-axis lead screw 341 is similar. The fourth drive motor 342 can be installed on one side of the bidirectional Y-axis track plate 32, rather than on the upper part of the bidirectional Y-axis track plate 32, for the same purpose of avoiding increasing the overall height of the device. Similarly, refer to Figure 2 and Figure 6 The second drive motor 53 of the material control assembly 5 adopts the same design as the drive connection of the second screw 54, so that the second drive motor 53 is installed on the side of the support platform 52 away from the bidirectional Y-axis track plate 32. This design can reduce the overall length of the material control assembly 5.

[0035] Preferably, the bidirectional Y-axis track plate 32 is provided with Y-axis slide rails 35 on both opposite sides, and two Y-axis sliders 36 are slidably fitted on the Y-axis slide rails 35. The first side plate 41 and the second side plate 51 are respectively connected to the two Y-axis sliders 36.

[0036] Specifically, when the first Y-axis drive assembly 33 and the second Y-axis drive assembly 34 drive the clamping assembly 4 and the material control assembly 5 to move along the Y-axis, the first side plate 41 and the second side plate 51 slide along the Y-axis slide rails 35 on both sides of the bidirectional Y-axis track plate 32 via the Y-axis slider 36, providing guiding support for the movement; ensuring precise guidance of the movement of the clamping assembly 4 and the material control assembly 5; In the sliding connection between the clamping plate 42 of the clamping assembly 4 and the first side plate 41, the sliding connection between the movable plate 55 of the material control assembly 5 and the second side plate 51, and the sliding connection between the base 31 and the X-axis linear conveying lower track 1, corresponding slide rails and sliders are also provided. Their functions and roles are the same as those of the Y-axis slide rail 35 and the Y-axis slider 36, and will not be elaborated on here.

[0037] Preferably, the X-axis drive assembly 6 includes a fifth drive motor 61 mounted on the base 31. The output shaft of the fifth drive motor 61 passes through the base 31 and is connected to a drive gear 62. A toothed rack 11 is provided on the X-axis linear conveying track 1 along the X-axis direction. The drive gear 62 is engaged with the teeth on the toothed rack 11.

[0038] Specifically, when it is necessary to drive the dual independent Y-axis drive module 3 to translate along the X-axis, the fifth drive motor 61 starts and drives the drive gear 62 to rotate. Since the drive gear 62 meshes with the toothed rack 11 of the X-axis linear conveying track 1, the rotational motion of the gear is converted into the linear translational motion of the module along the X-axis, realizing the position switching between the loading area and the test cabinet.

[0039] Preferably, a top plate 7 is provided on the upper end of the bidirectional Y-axis track plate 32, and pulleys 71 are provided on both sides of the upper end of the top plate 7. The X-axis linear conveying upper track 2 is located between the two pulleys so that the top plate 7 slides and engages with the X-axis linear conveying upper track 2.

[0040] Specifically, when the dual-path independent Y-axis drive module 3 translates along the X-axis, the two pulleys 71 at the top of the top plate 7 roll along the X-axis linearly to transport the upper rail 2, forming a double support structure with the drive of the lower rail 1 linearly transported along the X-axis. This provides stable support for the translation of the dual-path independent Y-axis drive module 3, ensuring that its overall force is balanced, improving the stability when translating along the X-axis, avoiding tilting or vibration caused by single rail support, reducing motion resistance, and improving translation speed and smoothness.

[0041] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A robotic arm for automatically handling and inserting discrete components during aging tests, characterized in that, It includes an X-axis linear lower conveyor track (1) and an X-axis linear upper conveyor track (2). A dual-path independent Y-axis drive module (3) that can translate along the X-axis direction is provided between the X-axis linear lower conveyor track (1) and the X-axis linear upper conveyor track (2). A clamping component (4) and a material control component (5) are respectively driven and connected on the dual-path independent Y-axis drive module (3). The clamping component (4) and the material control component (5) can be driven independently by the dual-path independent Y-axis drive module (3) to realize the linear movement of the clamping component (4) and the material control component (5) along the Y-axis direction. The dual-path independent Y-axis drive module (3) is equipped with an X-axis drive component (6). The X-axis drive component (6) is driven to connect with the X-axis linear conveying lower track (1). The X-axis drive component (6) can drive the dual-path independent Y-axis drive module (3) to perform reciprocating translational motion along the X-axis direction. The clamping component (4) is used to clamp and position the loading frame containing the test fixture. The material control component (5) is located at the upper end of the clamping component (4) and can push or pull the test fixture containing discrete devices in the loading frame into or out of the test storage position.

2. The automated aging test manipulator for discrete components according to claim 1, characterized in that, The dual-path independent Y-axis drive module (3) includes a base (31), on which a bidirectional Y-axis track plate (32) is fixed. On opposite sides of the bidirectional Y-axis track plate (32), a first Y-axis drive component (33) and a second Y-axis drive component (34) are integrated. The first Y-axis drive component (33) and the second Y-axis drive component (34) share space through the same bidirectional Y-axis track plate (32). The first Y-axis drive assembly (33) is driven to the clamping assembly (4), and the second Y-axis drive assembly (34) is driven to the material control assembly (5); The X-axis drive assembly (6) is mounted on the base (31) and drives the X-axis linear conveyor lower track (1).

3. The automated aging test manipulator for discrete components according to claim 2, characterized in that, The clamping assembly (4) includes two first side plates (41) located on one side of the bidirectional Y-axis track plate (32) and arranged opposite to each other. Each of the two first side plates (41) is provided with a clamping plate (42) and a first drive motor (43) that can slide relative to each other. The first drive motor (43) is provided with a first screw (44), and the first screw (44) is threadedly driven connected to the clamping plate (42).

4. The automated aging test manipulator for discrete components according to claim 3, characterized in that, The material control assembly (5) includes two second side plates (51) arranged on the same side as the first side plate (41) and opposite to each other. A support platform (52) is provided on the upper end of the second side plate (51) near the bidirectional Y-axis track plate (32). A second drive motor (53) is provided on the support platform (52). The second drive motor (53) is driven and connected to a second screw (54). A movable plate (55) is threadedly connected to the second screw (54). The movable plate (55) is slidably connected to the second side plate (51). A push rod (56) is provided at the lower end of the movable plate (55).

5. The automated aging test manipulator for discrete devices according to claim 4, characterized in that, The push rod (56) is located at the front end of the moving plate (55) in the forward direction and is offset from the position of the moving plate (55). When the dual independent Y-axis drive module (3) controls the material control component (5) to descend, the push rod (56) can be inserted and cooperated with the socket on the test fixture.

6. The automated aging test manipulator for discrete devices according to claim 5, characterized in that, The width between the two second side plates (51) is less than the width between the two first side plates (41).

7. A handling and insertion / removal robot for automatic aging testing of discrete devices according to any one of claims 4-6, characterized in that, The first Y-axis drive assembly (33) includes a first Y-axis lead screw (331) disposed on the side of the bidirectional Y-axis track plate (32) facing the clamping assembly (4) and a third drive motor (332) disposed on the base (31). The third drive motor (332) is drivenly connected to the first Y-axis lead screw (331). A first Y-axis movable block (333) is screwed onto the first Y-axis lead screw (331). The first Y-axis movable block (333) is connected to the clamping assembly (4). The second Y-axis drive assembly (34) includes a second Y-axis lead screw (341) disposed on the side of the bidirectional Y-axis track plate (32) away from the material control assembly (5) and a fourth drive motor (342) disposed on the upper end of the bidirectional Y-axis track plate (32). The fourth drive motor (342) is drivenly connected to the second Y-axis lead screw (341). A second Y-axis movable block (343) is screwed onto the second Y-axis lead screw (341). The two material control assemblies (5) are connected to the second Y-axis movable block (343).

8. The automated aging test manipulator for discrete components according to claim 7, characterized in that, The bidirectional Y-axis track plate (32) is provided with Y-axis slide rails (35) on both sides. Two Y-axis sliders (36) slide on the Y-axis slide rails (35). The clamping assembly (4) and the material control assembly (5) are respectively connected to the two Y-axis sliders (36).

9. A handling and insertion / removal robot for automatic aging testing of discrete devices according to claim 2, characterized in that, The X-axis drive assembly (6) includes a fifth drive motor (61) mounted on a base (31). The output shaft of the fifth drive motor (61) passes through the base (31) and is connected to a drive gear (62). A toothed rack (11) is provided on the X-axis linear conveying track (1) along the X-axis direction. The drive gear (62) meshes with the teeth on the toothed rack (11).

10. A handling and insertion / removal robot for automatic aging testing of discrete devices according to claim 9, characterized in that, The bidirectional Y-axis track plate (32) is provided with a top plate (7) at its upper end. The top plate (7) is provided with pulleys (71) on both sides of its upper end. The X-axis linear conveying upper track (2) is located between the two pulleys, so that the top plate (7) slides and engages with the X-axis linear conveying upper track (2).

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